CN116952251A - Path planning method, device, terminal equipment and readable storage medium - Google Patents
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Abstract
The embodiment of the invention provides a method, a device, terminal equipment and a readable storage medium for path planning, and belongs to the field of path planning. The method comprises the following steps: obtaining a route to be navigated corresponding to a target object, wherein the route to be navigated comprises navigation information and path points; dividing the course information according to the path points to obtain a plurality of first target road sections, wherein the first target road sections are road sections outside the no-navigation area in the course information; fitting the first target road section by using the B spline function for multiple times to obtain a corresponding target association relationship between the geocentric angle and the heading corresponding to each position point in the first target road section; and determining the motion parameters corresponding to the target objects according to the multiple target association relations, and determining the corresponding navigation paths of the target objects in the route to be navigated according to the motion parameters. According to the method, the alternative navigation path can be rapidly generated and the maneuvering overload of the ship is smoother aiming at the navigation forbidden zone and the plurality of path points with any shape, and the generated navigation path meets the actual navigation constraint of the ship.
Description
Technical Field
The present invention relates to the field of path planning, and in particular, to a method, an apparatus, a terminal device, and a storage medium for path planning.
Background
The optimal navigation path planning of the ship is an essential link for the ship to complete the offshore navigation, and has important significance for improving the navigation automation level of the ship, optimizing the navigation line design, saving navigation time, saving fuel and the like.
The conventional ship path planning can be realized by adopting a graphic operation drawing mode, the mode is simpler to realize, but complex route point constraint and navigation forbidden zone constraint are difficult to consider, and the complex route point constraint and navigation forbidden zone constraint comprise meteorological constraint, ocean current constraint, sea wave constraint, navigation positioning constraint, avoidance constraint, earth edge constraint, voyage constraint and the like. Path planning can be performed by adopting a graph search method, a grid method, an artificial potential field method and the like, but the method is difficult to process the forbidden region constraint with a complex shape and the multiple path point constraint, and when a large amount of optimized variables derived from the complex ship path planning constraint are faced, the problems of complex calculation program, poor robustness, low calculation efficiency, even no optimal solution can be found and the like exist.
In addition, when the path point and the maneuvering route of the ship are planned, the smoothness constraint consideration of maneuvering overload of the ship is less, the generated maneuvering overload is easy to generate mutation, the whole smoothness is insufficient, and the turning radius or curvature at the path point is suddenly changed, so that the method does not accord with the actual sailing process of the ship.
Disclosure of Invention
The main purpose of the embodiment of the invention is to provide a path planning method, a device, a terminal device and a readable storage medium, aiming at solving the problems that in the prior art, when a ship is sailed, a plurality of constraint conditions such as route point constraint and navigation forbidden zone constraint are difficult to consider, when a large number of optimized variables derived from complex ship path planning constraint are faced, the problems of complex calculation program, poor robustness, low calculation efficiency, even no optimal solution can be found, and the like.
In a first aspect, an embodiment of the present invention provides a method for path planning, including:
obtaining a route to be navigated corresponding to a target object, wherein the route to be navigated comprises navigation information and path points;
dividing the range information according to the path points to obtain a plurality of first target road sections, wherein the first target road sections are road sections except for a forbidden area in the range information;
fitting the first target road section by using a B spline function for a plurality of times to obtain a corresponding target association relationship between the geocentric angle and the heading corresponding to each position point in the first target road section;
determining motion parameters corresponding to the target object according to the target association relations, wherein the motion parameters are used for calculating the real-time motion state of the target object;
And determining a corresponding navigation path of the target object in the route to be navigated according to the motion parameters.
In a second aspect, an embodiment of the present invention further provides a path planning apparatus, including:
the data acquisition module is used for acquiring a route to be navigated corresponding to the target object, wherein the route to be navigated comprises navigation information and path points;
the road section planning module is used for dividing the route information according to the route points to obtain a plurality of first target road sections, wherein the first target road sections are road sections outside a forbidden area in the route information;
the data fitting module is used for fitting the first target road section by utilizing a B spline function for a plurality of times to obtain a corresponding target association relationship between the geocentric angle and the heading corresponding to each position point in the first target road section;
the parameter determining module is used for determining motion parameters corresponding to the target object according to a plurality of target association relations, wherein the motion parameters are used for calculating the real-time motion state of the target object;
and the path generation module is used for determining a navigation path corresponding to the target object in the route to be navigated according to the motion parameters.
In a third aspect, embodiments of the present invention also provide a terminal device comprising a processor, a memory, a computer program stored on the memory and executable by the processor, and a data bus for enabling a connection communication between the processor and the memory, wherein the computer program, when executed by the processor, implements the steps of the method of any one of the path planning as provided in the present description.
In a fourth aspect, embodiments of the present invention also provide a storage medium for computer readable storage, wherein the storage medium stores one or more programs executable by one or more processors to implement the steps of the method of any one of the path planning as provided in the present specification.
The embodiment of the invention provides a method, a device, terminal equipment and a readable storage medium for path planning, wherein the method comprises the steps of obtaining a route to be sailed corresponding to a target object, wherein the route to be sailed comprises navigation information and path points; dividing the range information according to the path points to obtain a plurality of first target road sections, wherein the first target road sections are road sections outside the forbidden area in the range information; fitting the first target road section by using the B spline function for multiple times to obtain a corresponding target association relationship between the geocentric angle and the heading corresponding to each position point in the first target road section; determining motion parameters corresponding to the target objects according to the multiple target association relations, wherein the motion parameters are used for calculating real-time motion states of the target objects; and determining a corresponding navigation path of the target object in the route to be navigated according to the motion parameters. The method solves the problems that in the prior art, when a ship is planned in a navigation path, a plurality of constraint conditions such as route point constraint and navigation forbidden zone constraint are difficult to consider, and when a large amount of optimized variables derived from complex ship path planning constraint are faced, the problems that a calculation program is complex, robustness is poor, calculation efficiency is low, even an optimal solution cannot be found, and the like. The generation speed of the alternative navigation path is improved for the navigation forbidden region with any shape and a plurality of path points, the overload of the ship maneuvering at the path points can be smoother, and the generation quality of the ship path is effectively improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a method for path planning according to an embodiment of the present application;
fig. 2 is a schematic diagram of a path planning result according to an embodiment of the present application;
FIG. 3 is a diagram showing comparison of iteration numbers between solution methods according to an embodiment of the present application;
fig. 4 is a schematic block diagram of a path planning apparatus according to an embodiment of the present application;
fig. 5 is a schematic block diagram of a structure of a terminal device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.
It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The embodiment of the invention provides a path planning method, a path planning device, terminal equipment and a readable storage medium. The path planning method can be applied to terminal equipment, and the terminal equipment can be electronic equipment such as tablet computers, notebook computers, desktop computers, personal digital assistants, wearable equipment and the like. The terminal device may be a server or a cluster of servers.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
The invention takes the optimal navigation path planning of a ship as a background, considers the forbidden region constraint with a complex shape and the constraint of a plurality of path points, takes the shortest total navigation path as an optimization target, and the prior art scheme mainly has the following problems:
(1) The existing ship path planning methods comprise a graph searching method, a grid method, an artificial potential field method and the like, are difficult to process the navigation forbidden zone constraint with the complex shape and the multiple path point constraint, and have the problems of complex calculation program, poor robustness, low calculation efficiency, even incapability of finding the optimal solution and the like when facing a large amount of optimized variables derived from the complex ship path planning constraint.
(2) When the existing ship path planning method is used for planning the path points and maneuvering routes of ships, less consideration is given to smoothness constraint of maneuvering overload of the ships, generated maneuvering overload is easy to generate mutation, the overall smoothness is insufficient, and the turning radius or curvature at the path points is suddenly changed and does not accord with the actual sailing process of the ships.
(3) The basic particle swarm algorithm has the problems of early maturity, local optimum, large occupied memory, low operation efficiency and the like, and lacks the utilization of specific knowledge when the complex optimization problem is processed, so that the calculation efficiency and reliability aiming at the complex path planning problem cannot be ensured.
Therefore, a method for quickly obtaining path planning under the complex forbidden regions and path points is needed.
Referring to fig. 1, fig. 1 is a flow chart of a path planning method according to an embodiment of the invention.
As shown in fig. 1, the path planning method includes steps S101 to S105.
Step S101, obtaining a route to be navigated corresponding to a target object, wherein the route to be navigated comprises navigation information and path points.
The target object is a ship, a route to be navigated corresponding to the target object is obtained, the route to be navigated comprises course information and path points, the course information at least comprises a starting position, a target position and a sea area where the target object is driven, the course information also comprises a navigation forbidden region or known position information which cannot be navigated, and the path points are necessary points when the target object is navigated in the course information or are positions where the course obviously needs to be changed.
Step S102, dividing the course information according to the path points to obtain a plurality of first target road sections, wherein the first target road sections are road sections outside a forbidden zone in the course information.
The method includes the steps that a starting position and an ending position corresponding to a route are obtained according to route information, the starting position is connected with a route point, the starting position is connected with the ending position, a plurality of first target road sections are obtained, if the first target road sections pass through a navigation forbidden zone in the obtaining process of the first target road sections, the first target road sections need to be adjusted to bypass the navigation forbidden zone, and therefore obstacle avoidance is needed to be carried out on the first target road sections.
For example, in the course information, the starting position is a, the terminal position is B, and the course point includes a point a, a point B, and a point c, and then the first target road segment is from the starting position a to the course point a, from the starting position a to the course point B, from the starting position a to the course point c, and from the starting position a to the terminal position B.
In some embodiments, the dividing the range information according to the waypoints to obtain a plurality of first target segments includes: determining a starting point and an ending point of the route to be sailed according to the voyage information; dividing the route to be navigated according to the starting point, the path point and the ending point to obtain a plurality of first target road sections, wherein the first target road sections at least comprise one path point.
The starting point and the ending point of the route to be navigated in the voyage information are obtained, namely, the starting position and the ending position corresponding to the route to be navigated of the target object in the voyage information are obtained. And arranging the initial position, the final position and the path points in sequence according to the running sequence of the target object, and connecting the two adjacent positions to obtain a plurality of first target road sections.
For example, in the course information, the starting position is a, the terminal position is B, the course point includes a point a, a point B, and a point c, which are sequentially arranged according to the running order of the target object, so as to obtain a starting position a, a course point B, a course point c, and a terminal position B, and then two adjacent positions are connected to obtain the starting position a and the course point a, the course point a and the course point B, the course point B and the course point c, and the course point c and the terminal position B, so that a plurality of first target road segments are obtained, and each first target road segment includes at least one path point.
And step S103, fitting the first target road section by using a B spline function for a plurality of times to obtain a corresponding target association relationship between the geocentric angle and the heading corresponding to each position point in the first target road section.
The method includes the steps that a first target road section is subjected to line segment fitting by using a B spline function, so that a corresponding target association relationship between a geocentric angle and a heading corresponding to each position point in the first target road section is obtained, and a travelling mode corresponding to each position point in the first target road section of a target object is obtained.
In some embodiments, the B-spline function is a cubic B-spline function; fitting the first target road section by using a B spline function for a plurality of times to obtain a corresponding target association relationship between a geocentric angle and a heading corresponding to each position point in the first target road section, wherein the method comprises the following steps: repeatedly executing to determine an initial association relation for the first target road section by utilizing a cubic B spline function; and carrying out iterative updating on the initial association relation by using a particle swarm algorithm to obtain the target association relation.
Illustratively, a corresponding target association relationship between the geocentric angle and the heading corresponding to each location point in the first target road segment is obtained according to a cubic B-spline function, so that longitude information and latitude information corresponding to the location point are obtained according to the target association relationship.
For example, taking one of the first target road segments as an example, a cubic B spline function form is set between [ path point a, path point B ] as shown in the following formula:
wherein ,representing the basis function +_>Representing the design variable, u is the normalized argument, will [ Path Point a, path Point b ]]Equally divide into->Part(s) (i.e. L)>，/>Position information representing the waypoint b, +.>Position information representing the waypoint a, +.>Indicating the size of the aliquots made. And satisfy->，/>Is the number of waypoints in the route.
Therefore, setting all the first target segments, the design variables for obtaining the cubic B-spline function are as follows:
，
and then, carrying out iterative updating on the design variables in the initial association relation by using a particle swarm algorithm, thereby obtaining the obtained target association relation.
In some embodiments, the iteratively updating the initial association relationship by using a particle swarm algorithm to obtain the target association relationship includes: modifying the updated parameter information corresponding to the particle swarm algorithm by utilizing a quantum mechanics principle; and carrying out iterative updating on the initial association relation according to the particle swarm algorithm after the parameter information is updated by correction, so as to obtain a target association relation.
Illustratively, the basic particle swarm algorithm utilizes Particle pair->And searching the optimized parameters. Wherein the position and velocity of the ith particle in the search space are +.> and />，i=1,2,…，/>And j=1, 2, …,. The historical best positions found so far for the whole population and the ith particle are recorded as +.> and />。
The probability of occurrence of a certain point in space of the particle is obtained by solving the Schrodinger function based on the quantum principle, and then the position and the speed of the particle are obtained. Therefore, the movement of the particles has larger uncertainty, so that the particles fully explore the search space, quickly find the optimal solution and avoid sinking into local optimal. Accordingly, the position and velocity of the particles are expressed as:
，
wherein ,for all particles in the t-th generation at j (j=1, 2,>) The individual optimal position means in the dimension. t is the current evolution algebra, the initial value is equal to 1, and the maximum value is +.>。/>For the coefficient of contraction expansion, the maximum and minimum values are +.>、/>。r 1 , r 2 Is a random number, and has a value range of 0,1]。
In summary, the basic steps of the improved particle swarm algorithm are as follows:
(1) Randomly initializing the position speed of the particles, so that t=1;
(2) Generating random number r 1 ，r 2 ；
(3) Updating the population position and speed by adopting a formula (21), wherein t=t+1;
(4) Returning to the step 2 until t reaches the maximum value 。
For example, based on the quantum particle swarm algorithm, the initial position of the ship is set to be at (E30 degrees, N-45 degrees), the initial heading is set to be at 50 degrees, the target point is set to be at (E90 degrees, N0 degrees), the path point is set to be at (E50 degrees, N-30 degrees), and the shape and planning result of the forbidden navigation area are shown in fig. 2. After the optimization calculation, the ship path passes through all path points and bypasses all forbidden regions. Based on the same optimization scene, the basic particle swarm algorithm and the particle swarm algorithm proposed by adding quantum mechanics are respectively utilized to solve, and each calculation is performed 1000 times to obtain a statistical result, as shown in fig. 3, wherein the convergence criterion is set to be that the maximum evolution algebra reaches 30 generations or the index of the optimal particle in the past three generations is improved by not more than 2%. Fig. 3 shows the evolution algebra required by the optimization algorithm to find the optimal solution, and compared with the basic particle swarm algorithm, the particle swarm algorithm with quantum mechanics added has obvious improvement in performance.
In some embodiments, the determining the initial association for the first target segment using a cubic B-spline function includes: obtaining a second target road section adjacent to the first target road section; obtaining a first association relationship corresponding to the first target road section and a second association relationship corresponding to the second target road section; determining a third association relation of the first target road section and the second target road section corresponding to an association route point according to the first association relation and the second association relation, wherein the association route point is a route point shared between the first target road section and the second target road section; and determining the initial association relation according to the first association relation and the third association relation.
In an exemplary embodiment, in order to ensure that the target object can make a smooth transition at the path point, a second target road segment adjacent to the first target road segment, that is, a second target road segment adjacent to the first target road segment before or after the first target road segment, a first association relationship corresponding to the first target road segment and a second association relationship corresponding to the second target road segment are obtained, the first association relationship and the second association relationship have the same function value and the same first derivative value and second derivative value at a path point position shared by the first target road segment and the second target road segment, so as to obtain a third association relationship corresponding to the first target road segment and the second target road segment at the association path point, and further, the first association relationship and the third association relationship form an initial association relationship.
For example, a cubic B-spline function should ensure，/> and />And thus, atHas the following characteristics ofAmong the route points, the available +.>The equations are shown as follows:
，
taking the starting position, the path point and the end position into consideration, a (1+M) way ) The equations are shown as follows:
，
wherein the subscript "0" indicates the start position of the target object, the subscript "f" indicates the end position, l=1, 2, …, M way . Reducing design variables to% ) The following steps:
，
taking into account parametersLacking in the actual physical meaning, it is difficult to initialize it, heading +.>As an optimization variable:
，
therefore, after the value of u is obtained according to the algorithm, the target association corresponding to the initial association can be determined. I.e. when obtainingAfter that, the geocentric angle +.>Substituted into->The heading +.>。
Step S104, determining motion parameters corresponding to the target object according to a plurality of target association relations, wherein the motion parameters are used for calculating the real-time motion state of the target object.
The motion parameters corresponding to the target object are determined according to the target association relation, so that the real-time motion state of the target object corresponding to the position point is determined according to the motion parameters.
In some embodiments, the motion parameter includes a lateral power, and determining, according to the target association relationships, the motion parameter corresponding to the target object includes: acquiring the running speed, the heading and the longitude information and the latitude information of the current position point of the target object; determining the lateral power corresponding to the target object according to the target association relationship, the running speed, the heading, the longitude information and the latitude information; obtaining the lateral power corresponding to the target object according to the following formula:
，
wherein ,for the mean radius of the earth, V represents the velocity information of the target object,/->Representing the heading of the target object,Latitude information representing the target object, m represents quality information of the target object,/>representing the lateral power, wherein the lateral power is perpendicular to the speed information, and the speed information is about +.>First derivative representing the relation of the longitude information with the latitude information, +.>A second derivative representing a relation of variation of said longitude information with said latitude information, said +.>Andand determining according to the target association relation.
Illustratively, consider a way design method with complex shape dead zone constraints and multiple waypoint constraints, thereby establishing a differential equation for the motion of the target object in the ocean as follows:
，
wherein ,for heading of target object, ++>Longitude information for target object, +.>Latitude information for target object, +.>The average radius of the earth is represented by V, which is the speed of the target object; />Generated for the target objectAnd the lateral power is perpendicular to the speed direction.
In order to avoid the constraint of a forbidden area with a complex shape, a function of longitude information changing along with latitude information is designed as follows through a plurality of path points:
after derivation (2), the method can be as follows:
，
Thus, the heading of a target object may be expressed as a function of latitude information as:
，
the change rate of the heading with respect to latitude information is available as follows:
，
it is thus possible to obtain a solution,, wherein ,/>First derivative representing the relation of longitude information with latitude information, +.>Second derivative representing the relation of longitude information with latitude information, +.> and />And determining according to the target association relation.
In some embodiments, the and />Determining according to the target association relation, including: according to the starting point of the route to be navigated as the origin of coordinates, determining the geocentric angle between the current position point of the target object and the origin of coordinates; determining the course corresponding to the target object at the current position point according to the geocentric angle and the target association relation; determining said +.o from said centroid angle and said heading>And said->The method comprises the steps of carrying out a first treatment on the surface of the Obtaining said ∈>And said->：
，
wherein ,representing the angle of the earth's center,/-, and>latitude information representing a target object,/->Longitude information representing target object，/>Latitude information indicating correspondence of the target object in the initial state,/->，/>Longitude information indicating correspondence of the target object in the initial state,/->Obtained according to the finite difference method.
Illustratively, the starting point of the route to be navigated serves as the origin of coordinates,-geocentric angle for the current position point to the starting point of the target object,>is a heading from a starting point to a current location point of the target location. Let the coordinates of the target object beLongitude and latitude are:
，
wherein, the subscript "0" represents the initial state of the target object;
further, the method comprises the steps of,that is, the ground relation between the geocentric angle and the heading in the target association relation, then (7) can be obtained:
，
wherein
，
According to formulas (3) and (5), and />Can be by-> and />The method comprises the following steps:
，
thus, when the target association relationship is obtained, the corresponding relationship is obtained and />。
Step 105, determining a navigation path corresponding to the target object in the route to be navigated according to the motion parameter.
For example, after the movement parameters are obtained, a corresponding navigation path in the route to be navigated can be obtained from the differential equation of the corresponding movement of the target object.
In summary, after the route to be navigated of the target object is obtained, the route to be navigated is divided into a plurality of first target segments according to navigation information and path points in the route to be navigated, the first target segments are fitted by using a cubic B spline function for a plurality of times, and adjacent first target segments are derived to ensure that the path point position derivative values of the adjacent first target segments corresponding to the adjacent points are the same, so that the target object can smoothly transit in the adjacent segments, further, a particle swarm algorithm based on quantum mechanics is utilized to solve and obtain a fitting result corresponding to each first target segment, the fitting result is determined to be a target association relation between a ground center angle and a heading corresponding to each position point in the first target segments, further, the relation between longitude information and latitude information corresponding to the position points of the target object is determined according to the target association relation, the lateral power of the target object is determined according to the relation between the longitude information and the latitude information, and the path of the target object is determined according to the differential equation of the lateral power moving in the ocean.
Referring to fig. 4, fig. 4 is a path planning apparatus 200 according to an embodiment of the present application, where the path planning apparatus 200 includes: the system comprises a data acquisition module 201, a road section planning module 202, a data fitting module 203, a parameter determination module 204 and a path generation module 205, wherein the data acquisition module 201 is used for acquiring a route to be sailed corresponding to a target object, and the route to be sailed comprises course information and path points; the road section planning module 202 is configured to divide the range information according to the path points to obtain a plurality of first target road sections, where the first target road sections are road sections other than the forbidden region in the range information; the data fitting module 203 is configured to fit the first target road segment with a B-spline function multiple times to obtain a corresponding target association relationship between a geocentric angle and a heading corresponding to each location point in the first target road segment; a parameter determining module 204, configured to determine a motion parameter corresponding to the target object according to a plurality of target association relationships, where the motion parameter is used to calculate a real-time motion state of the target object; the path generating module 205 is configured to determine a navigation path corresponding to the target object in the route to be navigated according to the motion parameter.
In some embodiments, the road segment planning module 202 performs, in the process of dividing the range information according to the waypoints to obtain a plurality of first target road segments:
determining a starting point and an ending point of the route to be sailed according to the voyage information;
dividing the route to be navigated according to the starting point, the path point and the ending point to obtain a plurality of first target road sections, wherein the first target road sections at least comprise one path point.
In some embodiments, the B-spline function is a cubic B-spline function; the data fitting module 203 performs, in a process of obtaining a target association relationship corresponding to a geocentric angle and a heading corresponding to each location point in the first target road segment by using a B-spline function for multiple times, fitting the first target road segment:
repeatedly executing to determine an initial association relation for the first target road section by utilizing a cubic B spline function;
and carrying out iterative updating on the initial association relation by using a particle swarm algorithm to obtain the target association relation.
In some embodiments, the data fitting module 203 performs, in the process of obtaining the target association by iteratively updating the initial association with a particle swarm algorithm:
Modifying the updated parameter information corresponding to the particle swarm algorithm by utilizing a quantum mechanics principle;
and carrying out iterative updating on the initial association relation according to the particle swarm algorithm after the parameter information is updated by correction, so as to obtain a target association relation.
In some implementations, the data fitting module 203 performs, in determining the initial association for the first target segment using a cubic B-spline function:
obtaining a second target road section adjacent to the first target road section;
obtaining a first association relationship corresponding to the first target road section and a second association relationship corresponding to the second target road section;
determining a third association relation of the first target road section and the second target road section corresponding to an association route point according to the first association relation and the second association relation, wherein the association route point is a route point shared between the first target road section and the second target road section;
and determining the initial association relation according to the first association relation and the third association relation.
In some embodiments, the motion parameters include lateral power, and the parameter determining module 204 performs, in the process of determining the motion parameters corresponding to the target object according to the target association relationships, the following steps:
Acquiring the running speed, the heading and the longitude information and the latitude information of the current position point of the target object;
determining the lateral power corresponding to the target object according to the target association relationship, the running speed, the heading, the longitude information and the latitude information;
obtaining the lateral power corresponding to the target object according to the following formula:
，
wherein ,for the mean radius of the earth, V represents the velocity information of the target object,/->Representing the heading of the target object,Latitude information representing the target object, m representing quality information of the target object, < >>Representing the lateral power, wherein the lateral power is perpendicular to the speed information, and the speed information is about +.>First derivative representing the relation of the longitude information with the latitude information, +.>A second derivative representing a relation of variation of said longitude information with said latitude information, said +.>Andand determining according to the target association relation.
In some implementations, the parameter determination module 204 is at the site and />And in the process of determining the target association relationship, executing:
according to the starting point of the route to be navigated as the origin of coordinates, determining the geocentric angle between the current position point of the target object and the origin of coordinates;
Determining the course corresponding to the target object at the current position point according to the geocentric angle and the target association relation;
determining the heading from the geocentric angle and the geodetic headingAnd said->；
The said process is obtained according to the followingAnd said->：
，
wherein ,representing the angle of the earth's center,/-, and>latitude information indicating the target object, θ indicating the longitude information of the target object，/>Representing the target object pairs in the initial stateCorresponding latitude information>，/>Longitude information indicating correspondence of the target object in the initial state,obtained according to the finite difference method.
Optionally, the apparatus 200 for path planning is applied to a terminal device.
It should be noted that, for convenience and brevity of description, a specific working process of the path planning apparatus described above may refer to a corresponding process in the foregoing path planning method embodiment, which is not described herein again.
Referring to fig. 5, fig. 5 is a schematic block diagram of a structure of a terminal device according to an embodiment of the present invention.
As shown in fig. 5, the terminal device 300 includes a processor 301 and a memory 302, the processor 301 and the memory 302 being connected by a bus 303, such as an I2C (Inter-integrated Circuit) bus.
In particular, the processor 301 is used to provide computing and control capabilities, supporting the operation of the entire terminal device. The processor 301 may be a central processing unit (Central Processing Unit, CPU), the processor 301 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Specifically, the Memory 302 may be a Flash chip, a Read-Only Memory (ROM) disk, an optical disk, a U-disk, a removable hard disk, or the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 5 is merely a block diagram of a portion of the structure related to the embodiment of the present invention, and does not constitute a limitation of the terminal device to which the embodiment of the present invention is applied, and that a specific server may include more or less components than those shown in the drawings, or may combine some components, or have a different arrangement of components.
The processor is configured to run a computer program stored in the memory, and implement any one of the path planning methods provided by the embodiments of the present invention when the computer program is executed.
In an embodiment, the processor is configured to run a computer program stored in a memory and to implement the following steps when executing the computer program:
obtaining a route to be navigated corresponding to a target object, wherein the route to be navigated comprises navigation information and path points;
dividing the range information according to the path points to obtain a plurality of first target road sections, wherein the first target road sections are road sections except for a forbidden area in the range information;
fitting the first target road section by using a B spline function for a plurality of times to obtain a corresponding target association relationship between the geocentric angle and the heading corresponding to each position point in the first target road section;
determining motion parameters corresponding to the target object according to the target association relations, wherein the motion parameters are used for calculating the real-time motion state of the target object;
and determining a corresponding navigation path of the target object in the route to be navigated according to the motion parameters.
In some embodiments, the processor 301 performs, in the process of dividing the range information according to the waypoints to obtain a plurality of first target road segments:
determining a starting point and an ending point of the route to be sailed according to the voyage information;
dividing the route to be navigated according to the starting point, the path point and the ending point to obtain a plurality of first target road sections, wherein the first target road sections at least comprise one path point.
In some embodiments, the B-spline function is a cubic B-spline function; the processor 301 performs, in a process of performing fitting on the first target road segment by using a B-spline function for multiple times to obtain a corresponding target association relationship between a geocentric angle and a heading corresponding to each location point in the first target road segment:
repeatedly executing to determine an initial association relation for the first target road section by utilizing a cubic B spline function;
and carrying out iterative updating on the initial association relation by using a particle swarm algorithm to obtain the target association relation.
In some embodiments, the processor 301 performs, in the process of obtaining the target association by performing iterative updating on the initial association using a particle swarm algorithm:
Modifying the updated parameter information corresponding to the particle swarm algorithm by utilizing a quantum mechanics principle;
and carrying out iterative updating on the initial association relation according to the particle swarm algorithm after the parameter information is updated by correction, so as to obtain a target association relation.
In some implementations, the processor 301 performs, in determining the initial association for the first target segment using a cubic B-spline function:
obtaining a second target road section adjacent to the first target road section;
obtaining a first association relationship corresponding to the first target road section and a second association relationship corresponding to the second target road section;
determining a third association relation of the first target road section and the second target road section corresponding to an association route point according to the first association relation and the second association relation, wherein the association route point is a route point shared between the first target road section and the second target road section;
and determining the initial association relation according to the first association relation and the third association relation.
In some embodiments, the motion parameters include lateral power, and the processor 301 performs, in the determining the motion parameters corresponding to the target object according to the target association relationships, the following steps:
Acquiring the running speed, the heading and the longitude information and the latitude information of the current position point of the target object;
determining the lateral power corresponding to the target object according to the target association relationship, the running speed, the heading, the longitude information and the latitude information;
obtaining the lateral power corresponding to the target object according to the following formula:
，
wherein ,for the mean radius of the earth, V represents the velocity information of the target object,/->Representing the heading of the target object,Latitude information representing the target object, m representing quality information of the target object, < >>Representing the lateral power, wherein the lateral power is perpendicular to the speed information, and the speed information is about +.>First derivative representing the relation of the longitude information with the latitude information, +.>A second derivative representing a relation of variation of said longitude information with said latitude information, said +.>Andand determining according to the target association relation.
In some implementations, the processor 301 is at the site and />And in the process of determining the target association relationship, executing:
according to the starting point of the route to be navigated as the origin of coordinates, determining the geocentric angle between the current position point of the target object and the origin of coordinates;
Determining the course corresponding to the target object at the current position point according to the geocentric angle and the target association relation;
determining the heading from the geocentric angle and the geodetic headingAnd said->；
The said process is obtained according to the followingAnd said->：
，
wherein ,representing the angle of the earth's center,/-, and>latitude information indicating a target object, θ indicating longitude of the target objectLetter (letter)，/>Latitude information indicating correspondence of the target object in the initial state,/->，/>Longitude information indicating correspondence of the target object in the initial state,/->Obtained according to the finite difference method.
It should be noted that, for convenience and brevity of description, a specific working process of the above-described terminal device may refer to a corresponding process in the foregoing path planning method embodiment, which is not described herein again.
Embodiments of the present invention also provide a storage medium for computer readable storage storing one or more programs executable by one or more processors to implement the steps of any of the methods of path planning as provided in the embodiments of the present invention.
The storage medium may be an internal storage unit of the terminal device according to the foregoing embodiment, for example, a hard disk or a memory of the terminal device. The storage medium may also be an external storage device of the terminal device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the terminal device.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, functional modules/units in the apparatus, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware embodiment, the division between the functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed cooperatively by several physical components. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
It should be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments. While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. A method of path planning, the method comprising:
obtaining a route to be navigated corresponding to a target object, wherein the route to be navigated comprises navigation information and path points;
dividing the range information according to the path points to obtain a plurality of first target road sections, wherein the first target road sections are road sections except for a forbidden area in the range information;
fitting the first target road section by using a B spline function for a plurality of times to obtain a corresponding target association relationship between the geocentric angle and the heading corresponding to each position point in the first target road section;
determining motion parameters corresponding to the target object according to the target association relations, wherein the motion parameters are used for calculating the real-time motion state of the target object;
and determining a corresponding navigation path of the target object in the route to be navigated according to the motion parameters.
2. The method of claim 1, wherein the dividing the range information according to the waypoints to obtain a plurality of first target segments comprises:
determining a starting point and an ending point of the route to be sailed according to the voyage information;
Dividing the route to be navigated according to the starting point, the path point and the ending point to obtain a plurality of first target road sections, wherein the first target road sections at least comprise one path point.
3. The method of claim 1, wherein the B-spline function is a cubic B-spline function;
fitting the first target road section by using a B spline function for a plurality of times to obtain a corresponding target association relationship between a geocentric angle and a heading corresponding to each position point in the first target road section, wherein the method comprises the following steps:
repeatedly executing to determine an initial association relation for the first target road section by utilizing a cubic B spline function;
and carrying out iterative updating on the initial association relation by using a particle swarm algorithm to obtain the target association relation.
4. The method of claim 3, wherein iteratively updating the initial association with a particle swarm algorithm to obtain the target association comprises:
modifying the updated parameter information corresponding to the particle swarm algorithm by utilizing a quantum mechanics principle;
and carrying out iterative updating on the initial association relation according to the particle swarm algorithm after the parameter information is updated by correction, so as to obtain a target association relation.
5. A method according to claim 3, wherein said determining an initial association for said first target segment using a cubic B-spline function comprises:
obtaining a second target road section adjacent to the first target road section;
obtaining a first association relationship corresponding to the first target road section and a second association relationship corresponding to the second target road section;
determining a third association relation of the first target road section and the second target road section corresponding to an association route point according to the first association relation and the second association relation, wherein the association route point is a route point shared between the first target road section and the second target road section;
and determining the initial association relation according to the first association relation and the third association relation.
6. The method according to claim 1, wherein the motion parameters include lateral power, and the determining the motion parameters corresponding to the target object according to the target association relationships includes:
acquiring the running speed, the heading and the longitude information and the latitude information of the current position point of the target object;
determining the lateral power corresponding to the target object according to the target association relationship, the running speed, the heading, the longitude information and the latitude information;
Obtaining the lateral power corresponding to the target object according to the following formula:
，
wherein ,for the mean radius of the earth, V represents the velocity information of the target object,/->Representing heading,/-of the target object>Latitude information representing the target object, m representing quality information of the target object, < >>Represents the power of the lateral machineThe power is perpendicular to the speed information, +.>First derivative representing the relation of the longitude information with the latitude information, +.>A second derivative representing a relation of variation of said longitude information with said latitude information, said +.> and />And determining according to the target association relation.
7. The method of claim 6, wherein theAnd said->Determining according to the target association relation, including:
according to the starting point of the route to be navigated as the origin of coordinates, determining the geocentric angle between the current position point of the target object and the origin of coordinates;
determining the course corresponding to the target object at the current position point according to the geocentric angle and the target association relation;
determining the heading from the geocentric angle and the geodetic headingAnd said->；
The said process is obtained according to the followingAnd said- >：
，
wherein ,representing the angle of the earth's center,/-, and>latitude information indicating the target object, θ indicating the longitude information of the target object，/>Latitude information indicating correspondence of the target object in the initial state,/->，/>Longitude information indicating correspondence of the target object in the initial state,/->Obtained according to the finite difference method.
8. An apparatus for path planning, comprising:
the data acquisition module is used for acquiring a route to be navigated corresponding to the target object, wherein the route to be navigated comprises navigation information and path points;
the road section planning module is used for dividing the route information according to the route points to obtain a plurality of first target road sections, wherein the first target road sections are road sections outside a forbidden area in the route information;
the data fitting module is used for fitting the first target road section by utilizing a B spline function for a plurality of times to obtain a corresponding target association relationship between the geocentric angle and the heading corresponding to each position point in the first target road section;
the parameter determining module is used for determining motion parameters corresponding to the target object according to a plurality of target association relations, wherein the motion parameters are used for calculating the real-time motion state of the target object;
And the path generation module is used for determining a navigation path corresponding to the target object in the route to be navigated according to the motion parameters.
9. A terminal device, characterized in that the terminal device comprises a processor and a memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and to implement the method of path planning according to any one of claims 1 to 7 when the computer program is executed.
10. A computer-readable storage medium, which, when executed by one or more processors, causes the one or more processors to perform the method steps of path planning as claimed in any one of claims 1 to 7.
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